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PUMA 560 C robot arm segment measurements. [4] 6 Axis arm with 3 axis making up a spherical wrist. [5] Maximum reach 878mm from center axis to center of wrist [5] Software selectable payloads from 4 kg to 2.5 kg [5] Arm weight: 83 kg (approximate) [6] Repeatability ±0.1mm [7] 2.5 kg max velocity: 500mm/sec straight line moves [7]
Remote center compliance in operation Schematic of an RCC equipped robot: 1. Robot wrist, 2. Attachment ring, 3. RCC, 4. Gripper mechanism, 5. Gripper fingers. In robotics, a remote center compliance, remote center of compliance or RCC is a mechanical device that facilitates automated assembly by preventing peg-like objects from jamming when they are inserted into a hole with tight clearance.
Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot. A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom.
The Canadarm has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints, an elbow pitch joint, and wrist pitch, yaw, and roll joints. [10] The end effector is the unit at the end of the wrist that grapples the payload's grapple fixture. The two lightweight boom segments are called the upper and ...
An example of a wrist singularity is when the path through which the robot is traveling causes the first and third axes of the robot's wrist (i.e. robot's axes 4 and 6) to line up. The second wrist axis then attempts to spin 180° in zero time to maintain the orientation of the end effector. Another common term for this singularity is a "wrist ...
It is a robot whose arm has at least three rotary joints. Parallel robot: One use is a mobile platform handling cockpit flight simulators. It is a robot whose arms have concurrent prismatic or rotary joints. Anthropomorphic robot: It is shaped in a way that resembles a human hand, i.e. with independent fingers and thumbs.
Industrial robot operating in a foundry. In robotics, gimbal lock is commonly referred to as "wrist flip", due to the use of a "triple-roll wrist" in robotic arms, where three axes of the wrist, controlling yaw, pitch, and roll, all pass through a common point.
Kinematic diagram of Cartesian (coordinate) robot A plotter is a type of Cartesian coordinate robot.. A Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. [1]